Proceedings of the Steklov Institute of Mathematics

, Volume 295, Issue 1, pp 158–167 | Cite as

Nonholonomic dynamics and control of a spherical robot with an internal omniwheel platform: Theory and experiments

  • Yu. L. KaravaevEmail author
  • A. A. Kilin


We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed.


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© Pleiades Publishing, Ltd. 2016

Authors and Affiliations

  1. 1.Kalashnikov Izhevsk State Technical UniversityIzhevskRussia
  2. 2.Udmurt State UniversityIzhevskRussia

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